diff --git a/boards/cuav/can-gps-v1/debug.px4board b/boards/cuav/can-gps-v1/debug.px4board
deleted file mode 100644
index 227e63b5f0..0000000000
--- a/boards/cuav/can-gps-v1/debug.px4board
+++ /dev/null
@@ -1,11 +0,0 @@
-CONFIG_MODULES_LOAD_MON=y
-CONFIG_SYSTEMCMDS_I2CDETECT=y
-CONFIG_SYSTEMCMDS_LED_CONTROL=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_TOP=y
-CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_VER=y
-CONFIG_SYSTEMCMDS_WORK_QUEUE=y
diff --git a/boards/nxp/fmurt1062-v1/default.px4board b/boards/nxp/fmurt1062-v1/default.px4board
index e527f7de50..227681fdce 100644
--- a/boards/nxp/fmurt1062-v1/default.px4board
+++ b/boards/nxp/fmurt1062-v1/default.px4board
@@ -25,7 +25,6 @@ CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_DRIVERS_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
@@ -36,7 +35,6 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
-CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
diff --git a/boards/px4/fmu-v2/default.px4board b/boards/px4/fmu-v2/default.px4board
index 713baa1583..48beb24279 100644
--- a/boards/px4/fmu-v2/default.px4board
+++ b/boards/px4/fmu-v2/default.px4board
@@ -28,7 +28,6 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_LAND_DETECTOR=y
-CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
diff --git a/boards/px4/fmu-v5/test.px4board b/boards/px4/fmu-v5/test.px4board
index 196f6888fb..1125afd8d9 100644
--- a/boards/px4/fmu-v5/test.px4board
+++ b/boards/px4/fmu-v5/test.px4board
@@ -1,3 +1,5 @@
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_BOARD_TESTING=y
 CONFIG_COMMON_BAROMETERS=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
diff --git a/boards/px4/fmu-v6x/default.px4board b/boards/px4/fmu-v6x/default.px4board
index 5ca40a8c19..1500dfa118 100644
--- a/boards/px4/fmu-v6x/default.px4board
+++ b/boards/px4/fmu-v6x/default.px4board
@@ -45,7 +45,6 @@ CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_DATAMAN=y